[−][src]Trait opencv::rgbd::Dynafu_DynaFu

pub trait Dynafu_DynaFu {
    pub fn as_raw_Dynafu_DynaFu(&self) -> *const c_void;

    pub fn as_raw_mut_Dynafu_DynaFu(&mut self) -> *mut c_void;

    pub fn get_params(&self) -> Result<Kinfu_Params> { ... }

    pub fn render(
        &self, 
        image: &mut dyn ToOutputArray, 
        camera_pose: Matx44f
    ) -> Result<()> { ... }

    pub fn get_cloud(
        &self, 
        points: &mut dyn ToOutputArray, 
        normals: &mut dyn ToOutputArray
    ) -> Result<()> { ... }

    pub fn get_points(&self, points: &mut dyn ToOutputArray) -> Result<()> { ... }

    pub fn get_normals(
        &self, 
        points: &dyn ToInputArray, 
        normals: &mut dyn ToOutputArray
    ) -> Result<()> { ... }

    pub fn reset(&mut self) -> Result<()> { ... }

    pub fn get_pose(&self) -> Result<Affine3f> { ... }

    pub fn update(&mut self, depth: &dyn ToInputArray) -> Result<bool> { ... }

    pub fn get_nodes_pos(&self) -> Result<Vector<Point3f>> { ... }

    pub fn march_cubes(
        &self, 
        vertices: &mut dyn ToOutputArray, 
        edges: &mut dyn ToOutputArray
    ) -> Result<()> { ... }

    pub fn render_surface(
        &mut self, 
        depth_image: &mut dyn ToOutputArray, 
        vert_image: &mut dyn ToOutputArray, 
        norm_image: &mut dyn ToOutputArray, 
        warp: bool
    ) -> Result<()> { ... }
}

Required methods

pub fn as_raw_Dynafu_DynaFu(&self) -> *const c_void[src]

pub fn as_raw_mut_Dynafu_DynaFu(&mut self) -> *mut c_void[src]

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Provided methods

pub fn get_params(&self) -> Result<Kinfu_Params>[src]

Get current parameters

pub fn render(
    &self,
    image: &mut dyn ToOutputArray,
    camera_pose: Matx44f
) -> Result<()>[src]

Renders a volume into an image

Renders a 0-surface of TSDF using Phong shading into a CV_8UC4 Mat. Light pose is fixed in DynaFu params.

Parameters

  • image: resulting image
  • cameraPose: pose of camera to render from. If empty then render from current pose which is a last frame camera pose.

C++ default parameters

  • camera_pose: Matx44f::eye()

pub fn get_cloud(
    &self,
    points: &mut dyn ToOutputArray,
    normals: &mut dyn ToOutputArray
) -> Result<()>[src]

Gets points and normals of current 3d mesh

The order of normals corresponds to order of points. The order of points is undefined.

Parameters

  • points: vector of points which are 4-float vectors
  • normals: vector of normals which are 4-float vectors

pub fn get_points(&self, points: &mut dyn ToOutputArray) -> Result<()>[src]

Gets points of current 3d mesh

The order of points is undefined.

Parameters

  • points: vector of points which are 4-float vectors

pub fn get_normals(
    &self,
    points: &dyn ToInputArray,
    normals: &mut dyn ToOutputArray
) -> Result<()>[src]

Calculates normals for given points

Parameters

  • points: input vector of points which are 4-float vectors
  • normals: output vector of corresponding normals which are 4-float vectors

pub fn reset(&mut self) -> Result<()>[src]

Resets the algorithm

Clears current model and resets a pose.

pub fn get_pose(&self) -> Result<Affine3f>[src]

Get current pose in voxel space

pub fn update(&mut self, depth: &dyn ToInputArray) -> Result<bool>[src]

Process next depth frame

Integrates depth into voxel space with respect to its ICP-calculated pose. Input image is converted to CV_32F internally if has another type.

Parameters

  • depth: one-channel image which size and depth scale is described in algorithm's parameters

Returns

true if succeeded to align new frame with current scene, false if opposite

pub fn get_nodes_pos(&self) -> Result<Vector<Point3f>>[src]

pub fn march_cubes(
    &self,
    vertices: &mut dyn ToOutputArray,
    edges: &mut dyn ToOutputArray
) -> Result<()>[src]

pub fn render_surface(
    &mut self,
    depth_image: &mut dyn ToOutputArray,
    vert_image: &mut dyn ToOutputArray,
    norm_image: &mut dyn ToOutputArray,
    warp: bool
) -> Result<()>[src]

C++ default parameters

  • warp: true
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Implementations

impl<'_> dyn Dynafu_DynaFu + '_[src]

pub fn create(_params: &Ptr<Kinfu_Params>) -> Result<Ptr<dyn Dynafu_DynaFu>>[src]

Implementors

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